2004
DOI: 10.1109/tro.2004.829506
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Localization Methods for a Mobile Robot in Urban Environments

Abstract: This paper addresses the problems of designing, building and using mobile robots for urban site modeling. It presents work on both system and algorithmic aspects. On the system level, we have designed and built a functioning autonomous mobile robot. The design extends an existing robotic vehicle with a sensor suite consisting of a digital compass with an integrated inclinometer, a global positioning unit, and a camera mounted on a pan-tilt head. The system is controlled by a distributed software architecture f… Show more

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Cited by 142 publications
(92 citation statements)
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“…However, RTK and DGPS navigation are not robust for signal loss caused by shadowing effects. Due to this fact, an additional improvement of the used navigation solution may be obtained from sensors like a navigation camera in a visual SLAM approach similar to (Georgiev and Allen, 2004). A further aspect for enhancement would be an appropriate magnetometer calibration as described in (Gebre-Egziabher, 2007, Dorveaux et al, 2009, Metni et al, 2006 or improved protection against signal interfering radiation through EMI shields.…”
Section: Resultsmentioning
confidence: 99%
“…However, RTK and DGPS navigation are not robust for signal loss caused by shadowing effects. Due to this fact, an additional improvement of the used navigation solution may be obtained from sensors like a navigation camera in a visual SLAM approach similar to (Georgiev and Allen, 2004). A further aspect for enhancement would be an appropriate magnetometer calibration as described in (Gebre-Egziabher, 2007, Dorveaux et al, 2009, Metni et al, 2006 or improved protection against signal interfering radiation through EMI shields.…”
Section: Resultsmentioning
confidence: 99%
“…A few groups use 3D laser scanners [1,5,11,14,15]. The RESOLV project aimed to model interiors for virtual reality and tele presence [11].…”
Section: D Mapping -State Of the Artmentioning
confidence: 99%
“…The AVENUE project develops a robot for modeling urban environments [1], using an expensive CYRAX laser scanner and a feature-based scan matching approach for registration of the 3D scans in a common coordinate system. Nevertheless, in their recent work they do not use data of the laser scanner in the robot control architecture for localization [5]. Triebel et al uses a SICK scanner on a 4 DOF robotic arm mounted on a B21r platform to explore the environment [14].…”
Section: D Mapping -State Of the Artmentioning
confidence: 99%
“…In indoor localization systems, radio frequency identification (RFID) tags are used [5,6]; these systems require the persons or robots to have an RFID reader. Mobile robots estimate their own position and orientation by themselves using a dead-reckoning method and image recognition [7]. In indoor experiments, it is difficult to estimate the global position and orientation of an object uniquely because of the symmetrical structure of buildings.…”
Section: Introductionmentioning
confidence: 99%